A method, device and system for precise alignment of workpiece

Abstract

The present invention provides a method, device and system for precise alignment of a workpiece, and relates to the technical field of workpiece processing equipment. The method for precise alignment of the workpiece is applied to the control mechanism of the alignment system, and includes: obtaining the previous pushing parameter, and the previous position change of the workpiece when the alignment device is running with the previous pushing parameter; judging whether the previous pushing parameter is equal to the previous position change; if not, updating the previous pushing parameter according to the previous pushing parameter and the previous position change until a target pushing parameter equal to the position change is obtained; controlling the alignment device to run with the target pushing parameter, and the present invention calculates the offset of the alignment vehicle according to the data of the actual displacement of the workpiece and the actual pushing distance of the alignment device, and adds the offset to the pushing distance to push the workpiece again to make up for the difference, thereby avoiding the phenomenon that the alignment device moves backward and offsets under the reaction force, resulting in inaccurate alignment of the workpiece, thereby realizing precise alignment of the workpiece.

Description

Technical Field

[0001] The present invention relates to the technical field of workpiece processing equipment, and in particular to a method, device and system for precise alignment of a workpiece. Background Art

[0002] During the production and processing of mechanical workpieces, the workpieces processed by CNC machining centers for molds and non-standard parts, CNC boring machines, deep hole drills, and EDM CNC electric spark forming machines are heavy, weighing hundreds of kilograms or even dozens of tons. Therefore, the robot manipulator cannot grab the workpiece to be processed for machining. Generally, workers fix the workpiece to be processed on a crane, and then use the crane to lift the workpiece to be processed onto the machine tool workbench. During this process, the position of the workpiece is prone to errors and cannot be accurately placed in the processing position, requiring further alignment and correction.

[0003] In the prior art, a single push rod is often used to align the workpiece. Since there is a certain gap between the alignment device and the track, the alignment device cannot accurately push the workpiece to the specified position when pushing, and precise alignment cannot be achieved. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a precision alignment method to alleviate the technical problem in the prior art that the alignment device has a sliding gap and cannot accurately push the workpiece to the specified position, thereby failing to perform precision alignment.

[0005] In a first aspect, this embodiment provides a method for precise alignment of a workpiece, which is applied to a control mechanism of an alignment system, and the method includes:

[0006] Obtain the previous pushing parameters and the previous position change of the workpiece when the alignment device runs with the previous pushing parameters;

[0007] Calculate the difference between the previous position change and the preset push parameter as the current difference;

[0008] If the current difference is greater than a preset threshold, the previous pushing parameter is updated according to the previous pushing parameter and the previous position change amount until a target pushing parameter equal to the position change amount is obtained;

[0009] Control the alignment device to run with target push parameters.

[0010] In combination with the first aspect, the embodiment of the present invention provides a first possible implementation of the first aspect, before the step of obtaining the previous pushing parameter and the previous position change of the workpiece when the alignment device runs with the previous pushing parameter, it also includes:

[0011] Obtaining the initial position change of the workpiece when the alignment device operates with preset pushing parameters;

[0012] Calculate the difference between the initial position change and the preset pushing parameter as the initial difference;

[0013] If the initial difference is greater than a preset threshold, the previous corrected pushing parameter is calculated based on the preset pushing parameter and the initial position change.

[0014] In combination with the first aspect, the embodiment of the present invention provides a first possible implementation of the first aspect, before the step of obtaining the initial position change of the workpiece when the alignment device runs with the preset pushing parameters, it also includes:

[0015] Drive the alignment device to move to the specified position;

[0016] Obtain preset pushing parameters of the alignment device corresponding to the workpiece.

[0017] In combination with the first aspect, the embodiment of the present invention provides a first possible implementation of the first aspect, wherein the step of updating the previous pushing parameter according to the previous pushing parameter and the previous position change amount includes:

[0018] ;

[0019] in, Push parameters for updated corrections, is the previous push parameter, is the previous revised push parameter, and, is the previous position change.

[0020] In combination with the first aspect, the embodiment of the present invention provides a first possible implementation of the first aspect, before the step of obtaining the preset pushing parameters of the alignment device corresponding to the workpiece, further comprising:

[0021] Obtaining the location information of the target workpiece;

[0022] The moving end of the alignment device is driven toward the target workpiece according to the position information.

[0023] In combination with the first aspect, the embodiment of the present invention provides a first possible implementation of the first aspect, before the step of acquiring the position information of the target workpiece, further comprising:

[0024] Obtain height information of the target workpiece;

[0025] The alignment device is driven to be in the same plane as the target workpiece according to the height information.

[0026] In combination with the first aspect, the embodiment of the present invention provides a first possible implementation of the first aspect, the step of obtaining the previous pushing parameter and the previous position change of the workpiece when the alignment device runs with the previous pushing parameter, comprising:

[0027] Obtain the initial position information of the workpiece before the last push;

[0028] Get the current position information of the workpiece after the previous push;

[0029] Calculate the previous position change based on the current position information and the initial position information.

[0030] In a second aspect, the present application provides a workpiece alignment device, comprising:

[0031] An acquisition module is used to acquire the previous pushing parameters and the previous position change of the workpiece when the alignment device is running with the previous pushing parameters;

[0032] A judgment module, used to judge whether the previous pushing parameter is equal to the previous position change;

[0033] An updating module, used for updating the previous pushing parameter according to the previous pushing parameter and the previous position change amount when the previous pushing parameter is not equal to the previous position change amount, until a target pushing parameter equal to the position change amount is obtained;

[0034] The control module is used to control the alignment device to operate with target pushing parameters.

[0035] In a third aspect, the present application provides an alignment system, the alignment system comprising a processing platform, an alignment device and a distance measuring mechanism;

[0036] The processing platform has a containing part, and the containing part is used to place the workpiece;

[0037] The alignment device is arranged on one side of the processing platform, and the alignment device comprises a driving mechanism and a push rod, and the push rod and the driving mechanism are connected in a transmission manner to approach or move away from the containing part;

[0038] The distance measuring mechanism is arranged on the driving mechanism, and the measuring direction of the distance measuring mechanism is the same as the pushing direction of the push rod.

[0039] In combination with the third aspect, the embodiment of the present invention provides a first possible implementation of the first aspect, wherein the distance measuring mechanism includes a precision displacement sensor, a high elastic spring and a sensor touch head;

[0040] The precision displacement sensor is arranged on the driving mechanism, and a mounting portion is arranged at one end of the precision displacement sensor;

[0041] One end of the high-elasticity spring is arranged on the mounting portion;

[0042] One end of the sensor touch head is connected to the other end of the high-elastic spring, and the other end of the sensor touch head is inserted into the push rod and slidably cooperates with the push rod. A limit part is provided at the end of the sensor touch head away from the precision displacement sensor, and the limit part cooperates with the push rod to make the end of the sensor touch head extend outward by a fixed length from the end of the push rod.

[0043] The embodiments of the present invention bring the following beneficial effects:

[0044] The precise alignment method for workpieces provided by the present invention is applied to the control mechanism of the alignment system, and the method includes: obtaining the previous pushing parameters and the previous position change of the workpiece when the alignment device is running with the previous pushing parameters; calculating the difference between the previous position change and the preset pushing parameters as the current difference; if the current difference is greater than the preset threshold, updating the previous pushing parameters according to the previous pushing parameters and the previous position change until a target pushing parameter equal to the position change is obtained; and controlling the alignment device to run with the target pushing parameters.

[0045] In the process of aligning the workpiece, the present invention obtains the previous pushing parameter, that is, the actual extension distance of the workpiece pushed by the previous alignment device, and the previous position change of the workpiece when the alignment device was running with the previous pushing parameter, that is, the displacement of the workpiece in the previous pushing process, to judge whether the actual extension distance of the workpiece pushed by the previous alignment device and the actual displacement of the workpiece are within the allowable error range. If they are greater than the maximum allowable error (that is, the preset threshold), the alignment device deviates or the workpiece tilts in the process of pushing the workpiece, resulting in the workpiece failing to move to the preset position. At this time, according to the previous The difference between the actual extension distance of the workpiece pushed by the alignment device and the displacement in the previous pushing process shows that if the workpiece wants to be pushed to the preset position, the pushing distance of the alignment device needs to be increased, and the actual extension distance of the workpiece pushed by the previous alignment device and the difference between the displacement are added to push the workpiece again for alignment, and then the above values ​​are measured again until the target pushing parameters equal to the position change are obtained. The alignment device is run with the target pushing parameters to align the workpiece again. If the difference between the actual displacement of the workpiece and the preset pushing parameters is within the allowable error range, it can be regarded as the workpiece moving to the preset position and the workpiece is aligned.

[0046] This embodiment measures the actual displacement of the workpiece after the alignment action is completed and the actual pushing distance of the alignment device, and calculates the offset of the alignment vehicle based on the data of the actual displacement of the workpiece and the actual pushing distance of the alignment device, and adds the offset to the pushing distance to push the workpiece again to make up for the difference, thereby avoiding the phenomenon that the alignment device moves backward and deflects under the reaction force, resulting in inaccurate alignment of the workpiece, thereby achieving precise alignment of the workpiece.

[0047] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0048] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 A flow chart of a method for precise alignment of a workpiece provided by an embodiment of the present invention;

[0051] Figure 2 A structural schematic diagram of a workpiece precision alignment system provided by an embodiment of the present invention;

[0052] Figure 3 for Figure 2 Enlarged view of point A in the middle.

[0053] icon:

[0054] 100-processing platform;

[0055] 200-alignment device; 210-driving mechanism; 220-push rod;

[0056] 300-distance measuring mechanism; 310-precision displacement sensor; 320-high elastic spring. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0058] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0060] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0061] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0062] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] To facilitate understanding of this embodiment, the application scenarios and design concepts of the embodiments of the present application are briefly introduced below.

[0064] Since the workpieces processed by CNC machining centers for molds and non-standard parts, CNC boring machines, deep hole drills, and EDM CNC electric spark forming machines are heavy, weighing hundreds of kilograms or even dozens of tons, robot manipulators cannot grab the workpieces to be processed for machining. Generally, workers fix the workpieces to be processed on a crane, and then use the crane to lift the workpieces to be processed onto the machine tool workbench. Currently, the workpieces to be processed are mostly aligned by a single push rod. Since there is a certain gap between the alignment device and the track, the workpiece is prone to not move when pushed, and the alignment device moves backward and offsets under the reaction force, resulting in a sliding gap in the alignment device that cannot accurately push the workpiece to the specified position, and cannot perform precise alignment.

[0065] In addition, when pushing for alignment of some heavier workpieces, there is often an elastic gap in the ground rail or alignment device. When pushing a large workpiece for alignment, the alignment device is forced to move backward. When the alignment device is not forced to move back, it returns to its original position with a certain elastic gap. At this time, it is also impossible to achieve precise and accurate alignment of the workpiece.

[0066] Example 1

[0067] See also Figure 1 The precise alignment method of a workpiece provided in this embodiment is applied to a control mechanism of an alignment system, and the method includes:

[0068] S100, obtaining the previous pushing parameters and the previous position change of the workpiece when the alignment device runs with the previous pushing parameters;

[0069] S200, calculating the difference between the previous position change and the preset pushing parameter as the current difference;

[0070] S300, if the current difference is greater than a preset threshold, updating the previous pushing parameter according to the previous pushing parameter and the previous position change amount until a target pushing parameter equal to the position change amount is obtained;

[0071] S400, controlling the alignment device to operate with target pushing parameters.

[0072] Specifically, in the process of aligning the workpiece by the single-rod structure alignment device 200, by obtaining the previous pushing parameter, that is, the actual extension distance of the workpiece pushed by the previous alignment device 200, and the previous position change of the workpiece when the alignment device 200 was running with the previous pushing parameter, that is, the displacement of the workpiece during the previous pushing process, the difference between the actual extension distance of the workpiece pushed by the previous alignment device 200 and the actual displacement of the workpiece is calculated to obtain the current difference, that is, the distance between the current workpiece position and the target position of the workpiece.

[0073] If the current difference is greater than a preset threshold (i.e., the maximum error of the workpiece to be aligned. In this embodiment, the preset threshold is specifically 2 mm, i.e., the maximum distance between the final position of the workpiece and the preset position of the workpiece should be less than or equal to 2 mm), it can be determined that an offset of the alignment device 200 has occurred during the process of pushing the workpiece, resulting in the workpiece failing to move to the preset position.

[0074] At this time, according to the difference between the actual extension distance of the workpiece pushed by the alignment device 200 last time and the displacement in the previous pushing process. It can be seen that if the workpiece is expected to be pushed to the preset position, the pushing distance of the alignment device 200 needs to be increased, and the difference between the actual extension distance of the workpiece pushed by the alignment device 200 last time and the displacement is added to push the workpiece again for alignment, and then the above value is measured again until the current difference is greater than or equal to the preset threshold value, and the alignment device 200 is run with the target pushing parameter to align the workpiece again. Repeat the above action again until the difference between the actual displacement of the workpiece and the preset pushing parameter is less than the preset threshold value, then it can be regarded that the workpiece has moved to the preset position and the workpiece has been aligned.

[0075] The present invention measures the previous position change of the workpiece after the previous alignment action is completed (the actual displacement of the workpiece) and the previous pushing parameter of the alignment device 200 (the actual pushing distance of the alignment device 200), and calculates the target pushing parameter equal to the position change based on the previous position change of the workpiece and the previous pushing parameter of the alignment device 200 (the displacement is added to the previous pushing distance of the alignment device 200 to obtain the current pushing distance), thereby compensating for the difference caused by the offset of the alignment device 200, avoiding the phenomenon that the alignment device 200 moves backward and offsets under the reaction force, resulting in inaccurate alignment of the workpiece, thereby realizing precise alignment of the workpiece.

[0076] Before the step S100 of obtaining the previous pushing parameters and the previous position change of the workpiece when the alignment device is running with the previous pushing parameters, the step also includes:

[0077] S010, obtaining the initial position change of the workpiece when the alignment device runs with preset pushing parameters;

[0078] S020, calculating the difference between the initial position change and the preset pushing parameter as the initial difference;

[0079] S030: If the initial difference is greater than a preset threshold, the previous corrected pushing parameter is calculated based on the preset pushing parameter and the initial position change.

[0080] It should be noted that the relationship between the initial revised push parameter and the previous revised push parameter is: if the current number of pushes is 2, the initial is the previous time; if the current number of pushes is greater than 2, the previous time is corrected on the basis of the initial.

[0081] When the alignment device 200 performs the first alignment action on the workpiece, the alignment device 200 operates according to the preset pushing parameters corresponding to the workpiece to push the workpiece to move. After the first alignment action is completed, the initial position change of the workpiece is obtained.

[0082] The initial difference of the workpiece is the difference between the initial position change and the preset push parameter. If the initial difference is less than or equal to the preset threshold, the workpiece moves a distance close to the preset push parameter under the push of the alignment device 200, and the workpiece is aligned.

[0083] If the initial difference is greater than the preset threshold, it can be determined that an offset of the alignment device 200 has occurred during the process of pushing the workpiece, and the workpiece has not moved to the preset position. At this time, the previous corrected pushing parameter is obtained based on the difference between the preset pushing parameter and the initial position change.

[0084] Before the step S010 of obtaining the initial position change of the workpiece when the alignment device operates with the preset pushing parameters, the step further includes:

[0085] S001, drive the alignment device to move to the specified position;

[0086] S002, obtaining preset pushing parameters of the alignment device corresponding to the workpiece.

[0087] Specifically, in this embodiment, the alignment device 200 is arranged on a mobile mechanism, and a track is laid on the workshop floor. The mobile mechanism moves along the track to the position of the alignment device 200 and reaches the preset position. The alignment device 200 performs an initial pushing action on the workpiece according to the stored preset pushing parameters relative to the workpiece.

[0088] It should be noted that, in the present embodiment, the alignment device 200 pushes the workpiece to move by a single rod, and when the center of the single rod coincides with the center of the workpiece, it is considered that the alignment device 200 has reached the preset designated position.

[0089] As an implementable method, when the alignment mechanism is a double-rod pushing structure, the centers of the two push rods 220 need to be consistent with the center of the workpiece.

[0090] Step S300, the step of updating the previous pushing parameter according to the previous pushing parameter and the previous position change comprises:

[0091] ;

[0092] in, Push parameters for updated corrections, is the previous push parameter, is the previous revised push parameter, and, is the previous position change.

[0093] Before step S002, the step of obtaining the preset pushing parameters of the alignment device corresponding to the workpiece, the method further includes:

[0094] S0013, obtaining the position information of the target workpiece;

[0095] S0014, driving the moving end of the alignment device toward the target workpiece according to the position information.

[0096] Specifically, in this embodiment, a rotating mechanism is provided at the bottom of the alignment device 200 , and the rotating mechanism includes a rotating motor, and the output end of the rotating motor is transmission-connected to the push rod 220 to drive the push rod 220 to rotate, thereby realizing the adjustment of the orientation direction of the push rod 220 .

[0097] S0013, before the step of obtaining the position information of the target workpiece, the method further includes:

[0098] S0011, obtaining height information of the target workpiece;

[0099] S0012, driving the alignment device to be in the same plane as the target workpiece according to the height information.

[0100] Specifically, a height adjustment mechanism is further provided between the rotating mechanism and the push rod 220 in this embodiment, and the height adjustment mechanism in this embodiment is a cylinder, the moving end of the cylinder faces upward, and the driving direction of the cylinder is a vertical direction. When the moving end of the cylinder moves upward, the push rod 220 can move upward together, thereby adjusting the height of the push rod 220 so that the push rod 220 and the workpiece are in the same plane, thereby ensuring that the push rod 220 can push the workpiece to move.

[0101] S100, the step of obtaining the previous pushing parameters and the previous position change of the workpiece when the alignment device runs with the previous pushing parameters, further includes:

[0102] S110, obtaining the initial position information of the workpiece before the previous push;

[0103] S120, obtaining the current position information of the workpiece after the previous push;

[0104] S130, calculating the last position change amount according to the current position information and the initial position information.

[0105] Among them, in this embodiment, the initial position information of the workpiece before the previous push is, and the current position information of the workpiece after the previous push is, that is, the previous position change of the workpiece.

[0106] The workpiece alignment device 200 provided in this embodiment includes:

[0107] An acquisition module, used to acquire the previous pushing parameters and the previous position change of the workpiece when the alignment device 200 operates with the previous pushing parameters;

[0108] A judgment module, used to judge whether the previous pushing parameter is equal to the previous position change;

[0109] An updating module, used for updating the previous pushing parameter according to the previous pushing parameter and the previous position change amount when the previous pushing parameter is not equal to the previous position change amount, until a target pushing parameter equal to the position change amount is obtained;

[0110] The control module is used to control the alignment device 200 to operate with target driving parameters.

[0111] See also Figure 2 , Figure 3 The alignment system provided in this embodiment includes a processing platform 100, an alignment device 200 and a distance measuring mechanism 300. The processing platform 100 has a containing portion, and the containing portion is used to place the workpiece. The alignment device 200 is arranged on one side of the processing platform 100, and the alignment device 200 includes a driving mechanism 210 and a push rod 220, and the push rod 220 is connected to the driving mechanism 210 by transmission to approach or move away from the containing portion. The distance measuring mechanism 300 is arranged on the driving mechanism 210, and the measuring direction of the distance measuring mechanism 300 is the same as the pushing direction of the push rod 220.

[0112] Specifically, the alignment device 200 in this embodiment further includes a mounting seat, a driving mechanism 210 is arranged on the mounting seat, the mounting seat and the driving mechanism 210 remain fixed in position during the alignment of the workpiece, and the push rod 220 is in transmission connection with the driving end of the driving mechanism 210. The driving element of the driving mechanism 210 in this embodiment is a driving motor, and the push rod 220 and the moving end of the driving motor are linked by a chain to realize the pushing action of the push rod 220. The distance measuring mechanism 300 is installed on the driving motor so that the position of the distance measuring mechanism 300 can remain unchanged during the pushing process, thereby measuring the actual displacement distance of the workpiece.

[0113] In this embodiment, the distance measuring mechanism 300 includes a precision displacement sensor 310, a high elastic spring 320 and a sensor touch head. The precision displacement sensor 310 is arranged on the driving mechanism 210, and a mounting portion is arranged at one end of the precision displacement sensor 310. One end of the high elastic spring 320 is arranged at the mounting portion. One end of the sensor touch head is connected to the other end of the high elastic spring 320, and the other end of the sensor touch head is inserted into the push rod 220 and slidably cooperates with the push rod 220. A limit portion is arranged at one end of the sensor touch head away from the precision displacement sensor 310, and the limit portion cooperates with the push rod 220 so that the end of the sensor touch head extends outward by a fixed length of the end of the push rod 220.

[0114] Specifically, in this embodiment, the two ends of the high-elastic spring 320 are connected to the precision displacement sensor 310 and the sensor touch head, respectively. Under this structure, the value measured by the precision displacement sensor 310 is the distance between the precision displacement sensor 310 and the end of the sensor touch head. After the high-elastic spring 320 is compressed, the precision displacement sensor 310 is connected to the drive mechanism 210 to fix the position of the precision displacement sensor 310. Subsequently, the sensor touch head is inserted into the push rod 220. Under the action of the restorative deformation of the high-elastic spring 320, the sensor touch head moves toward the end of the push rod 220 away from the drive mechanism 210 (i.e., the end abutting against the workpiece). Under the action of the limiter, the sensor touch head extends out of the push end of the push rod 220 by a fixed distance. Under this structure, before the push rod 220 abuts against the workpiece, the sensor touch head abuts against the workpiece first, thereby obtaining the initial position of the workpiece. After the push rod 220 pushes the workpiece, it performs a reset movement. When the push rod 220 just leaves the workpiece, the sensor touch head keeps extending under the action of the high elastic spring 320, and the sensor touch head still keeps contacting with the workpiece, thereby measuring the position of the workpiece after being pushed, and then obtaining the position change of the workpiece after this push.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for precise alignment of a workpiece, characterized in that: A control mechanism applied to an alignment system, wherein the alignment system comprises a processing platform, an alignment device and a distance measuring mechanism; The processing platform has a containing portion, and the containing portion is used to place the workpiece; The alignment device is arranged on one side of the processing platform, and the alignment device comprises a driving mechanism and a push rod, and the push rod is transmission-connected with the driving mechanism to approach or move away from the containing part; The distance measuring mechanism is arranged on the driving mechanism, and the measuring direction of the distance measuring mechanism is the same as the pushing direction of the push rod; The distance measuring mechanism comprises a precision displacement sensor, a high elastic spring and a sensor touch head; The precision displacement sensor is arranged on the driving mechanism, and a mounting portion is arranged at one end of the precision displacement sensor; One end of the high-elasticity spring is arranged on the mounting portion; One end of the sensor touch head is connected to the other end of the high-elastic spring, and the other end of the sensor touch head is inserted into the push rod and slidably cooperates with the push rod. A limit portion is provided at one end of the sensor touch head away from the precision displacement sensor, and the limit portion cooperates with the push rod so that the end of the sensor touch head extends outward from the end of the push rod by a fixed length; The method comprises: Obtaining the initial position change of the workpiece when the alignment device operates with preset pushing parameters; Calculating the difference between the initial position change and the preset pushing parameter as an initial difference; If the initial difference is greater than a preset threshold, the previous corrected pushing parameter is calculated according to the preset pushing parameter and the initial position change; Acquire the previous pushing parameters and the previous position change of the workpiece when the alignment device operates with the previous pushing parameters; Calculate the difference between the previous position change and the preset pushing parameter as the current difference; If the current difference is greater than a preset threshold, the previous pushing parameter is updated according to the previous pushing parameter and the previous position change amount until a target pushing parameter equal to the position change amount is obtained; Control the alignment device to run with target push parameters.

2. The method according to claim 1, characterized in that Before the step of obtaining the initial position change of the workpiece when the alignment device operates with the preset pushing parameters, the method further includes: Driving the alignment device to move to a specified position; Obtain preset pushing parameters of the alignment device corresponding to the workpiece.

3. The method according to claim 2, characterized in that The step of updating the previous pushing parameter according to the previous pushing parameter and the previous position change comprises: ; in, Push parameters for updated corrections, is the previous push parameter, is the previous revised push parameter, and, is the previous position change.

4. The method according to claim 2, characterized in that: Before the step of obtaining the preset pushing parameters of the alignment device corresponding to the workpiece, the method further includes: Obtaining the location information of the target workpiece; The moving end of the alignment device is driven toward the target workpiece according to the position information.

5. The method according to claim 4, characterized in that Before the step of obtaining the position information of the target workpiece, the method further includes: Acquiring height information of the target workpiece; The alignment device is driven to be in the same plane as the target workpiece according to the height information.

6. The method according to claim 1, characterized in that The step of obtaining the previous pushing parameters and the previous position change of the workpiece when the alignment device operates with the previous pushing parameters includes: Acquiring the initial position information of the workpiece before the last push; Acquiring the current position information of the workpiece after the previous push; The previous position change is calculated based on the current position information and the initial position information.

7. A workpiece alignment device, characterized in that: include: An acquisition module, used for acquiring the previous pushing parameters and the previous position change of the workpiece when the alignment device operates with the previous pushing parameters; A judging module, used for judging whether the previous pushing parameter is equal to the previous position change; An updating module, configured to update the previous pushing parameter according to the previous pushing parameter and the previous position change amount when the previous pushing parameter is not equal to the previous position change amount, until a target pushing parameter equal to the position change amount is obtained; The control module is used to control the alignment device to operate with target pushing parameters.

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